CN117529671A - Distance measuring method and distance measuring equipment - Google Patents

Abstract

A ranging method (400) and ranging apparatus (700, 800), the ranging method (400) comprising: when the first device (110) and the second device (120) perform first phase ranging through bluetooth communication, the first device (110) transmits a first ranging control packet (S410) to the second device (120), and the first ranging control packet includes control information for the first phase ranging. The ranging method (400) loads control information into a ranging control packet, so that the ranging equipment (700, 800) can perform control information interaction at any time according to requirements, and the flexibility of control information interaction in the phase ranging process is improved.

Description

Distance measuring method and distance measuring equipment

Technical Field

The present application relates to the field of ranging technologies, and more particularly, to a ranging method and ranging apparatus.

Background

Bluetooth communication technology is a commonly used short-range communication technology. The phase ranging method based on the Bluetooth communication technology is widely applied to the fields of indoor positioning, distance measurement and the like. However, the interaction manner of the control information of the phase ranging is not flexible enough, which may affect the user experience. For example, a phase ranging method based on bluetooth low energy (bluetooth low energy, BLE) technology can only perform interaction of control information at a BLE connection event.

Disclosure of Invention

The application provides a ranging method and ranging equipment. Various aspects related to embodiments of the present application are described below.

In a first aspect, there is provided a ranging method, comprising: in the process that a first device and a second device perform first phase ranging through Bluetooth communication, the first device sends a first ranging control packet to the second device, and the first ranging control packet comprises control information for the first phase ranging.

In a second aspect, there is provided a ranging method, comprising: in the process that the second device and the first device perform first phase ranging through Bluetooth communication, the second device receives a first ranging control packet sent by the first device, wherein the first ranging control packet comprises control information for first phase ranging.

In a third aspect, there is provided a ranging apparatus comprising: and a transmitting unit configured to transmit a first ranging control packet to the second device in a first phase ranging process of the ranging device and the second device, wherein the first ranging control packet includes control information for the first phase ranging.

In a fourth aspect, there is provided a ranging apparatus comprising: and the receiving unit is configured to receive a first ranging control packet sent by the first equipment in the process of first phase ranging of the first equipment and the ranging equipment, wherein the first ranging control packet comprises control information for the first phase ranging.

In a fifth aspect there is provided a ranging apparatus comprising a memory for storing a program and a processor for invoking the program in the memory to perform the method of the first or second aspect.

In a sixth aspect, there is provided a ranging apparatus comprising a processor for invoking a program from a memory to perform the method of the first or second aspect.

In a seventh aspect, there is provided a chip comprising a processor configured to perform the method of the first or second aspect.

In an eighth aspect, there is provided a computer-readable storage medium having stored thereon a program that causes a computer to execute the method of the first or second aspect.

In a ninth aspect, there is provided a computer program product comprising a program for causing a computer to perform the method of the first or second aspect.

In a tenth aspect, there is provided a computer program for causing a computer to perform the method of the first or second aspect.

According to the method and the device for carrying the control information in the ranging control packet, the ranging equipment can conduct control information interaction at any time according to requirements, and flexibility of control information interaction in the phase ranging process is improved.

Drawings

Fig. 1 is a schematic diagram of phase ranging according to an embodiment of the present application.

Fig. 2 is a timing chart of bluetooth ranging according to an embodiment of the present application.

Fig. 3 is a diagram illustrating an example of a ranging procedure according to an embodiment of the present application.

Fig. 4 is a schematic flow chart of a ranging method according to an embodiment of the present application.

Fig. 5 is a schematic flow chart of a ranging termination procedure according to an embodiment of the present application.

Fig. 6 is a flowchart illustrating a process of updating parameters of the first phase ranging according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a ranging apparatus according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a ranging apparatus according to another embodiment of the present application.

Fig. 9 is a schematic structural diagram of a ranging apparatus according to another embodiment of the present application.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.

With the advent of the internet of things era, the demands for indoor location services and distance measurement of internet of things around personnel and assets are increasing. Owing to the development of Bluetooth communication technology, the ranging and indoor positioning technology based on the Bluetooth communication technology is an ideal choice for various applications in the fields of industrial Internet of things, intelligent home, building and city, asset tracking and electronic health.

Channel Sounding (CS) may also be referred to as ranging. Bluetooth ranging may be referred to simply as CS, which may also refer to the bluetooth ranging specification in some cases. Bluetooth ranging may include ranging based on bluetooth low energy technology. For example, the ranging method may be a ranging method based on a time of flight (ToF) of a wireless signal or a ranging method based on phase information, or a ranging method based on both of the ToF and the phase information.

The phase information based ranging approach may make distance measurements based on phase changes in the wireless signal transmitted between devices. That is, the difference in distance between the devices causes the phase of the wireless signal received by the receiving device to change. The ranging method based on the phase information may also be simply referred to as phase ranging.

Fig. 1 is a schematic diagram of phase ranging. The principle of BLE ranging between the first device and the second device based on a phase change of wireless signal transmission is described below in connection with fig. 1. In the example of fig. 1, the first device is a ranging initiator and the second device is a ranging receiver or reflector. In some embodiments, the first device 110 may also be referred to as a host a or master device and the second device 120 may also be referred to as a host B or slave device.

Referring to fig. 1, in step 1, the first device 110 may transmit an unmodulated tone signal at a ranging start time and record phase data of the tone signal. For example, the phase data may be vector modulation data (IQ data) corresponding to the phase information. The ranging start time, the time for which the tone signal is transmitted, may be determined by the first device 110 and the second device 120 negotiations prior to ranging. In some embodiments, a typical value for the duration of the tone signaling is 40 microseconds.

In step 2, the second device 120 may initiate reception of the tone signal at the ranging start time and record the acquired phase information during reception.

After the second device 120 completes the reception of the tone signal, it may switch to the tone transmission mode in step 3. The time interval for the handoff may be determined by the first device 110 and the second device 120 negotiations prior to ranging. In some embodiments, a typical value for the time interval of the switch is 80 microseconds.

In step 4, the second device 120 may start transmitting a tone signal when the switching time is reached, and record phase information of the tone signal. The transmission duration of the tone signal may be the same as the time the second device 120 receives the tone. In some embodiments, a typical value for the duration of the tone signaling is 40 microseconds.

In step 5, the first device 110 may switch to the tone receiving mode after completing transmission of the tone signal. The switching time interval may be the same as the switching time interval of the second device 120.

In step 6, the first device 110 may start receiving a tone signal when the switching time is reached, and record phase information of the tone signal. The reception time of the first device 110 tone signal may be the same as the transmission time of the second device 120 tone signal.

In step 7, the second device 120 may transmit the phase information record of the single tone signal to the first device 110. The first device 110 may obtain a phase difference between the first device 110 and the second device 120 due to signal transmission between the air interfaces according to the phase information and the phase calibration data. The first device 110 may calculate a distance between the first device 110 and the second device 120 based on the phase difference.

Since phase-based ranging is heavily dependent on the phase accuracy of a tone signal, which is largely dependent on the frequency deviation of the ranging initiator and the reflector, the frequency deviation of the ranging initiator and the reflector is generally estimated (simply referred to as frequency deviation estimation) before ranging, thereby obtaining phase calibration data. The distance between the ranging initiator and the reflector can be calculated from the phase information and the phase calibration data recorded during the ranging process.

The ranging mode 0 specified in the CS specification is the frequency offset estimation. In order to ensure the validity of the ranging result, the CS specification also specifies that mode 0 must be performed before ranging using a tone signal.

Mode 0 is frequency offset estimation by the initiator and the receiver transceiving CS sync packets of a specific format. The frame format of the CS sync packet is shown in table 1.

Table 1 frame format of CS sync packet

Preamble

CS Access Address

Trailer

Referring to table 1, the Preamble of the cs sync packet is a Preamble, typically 1 byte or 2 bytes. CS Access Address may be a random sequence known to the initiator and the recipient, typically comprising 4 bytes. Trailer is the Trailer of the CS synchronization packet, and typically consists of 4 bytes. The frequency deviation of the initiator and the receiver can be obtained through an algorithm according to the transmission and the reception of CS Access Address.

The aforementioned phase ranging based mode is specified as ranging mode 2 in the CS specification. In order to improve the security based on phase ranging, the CS specification also specifies ranging mode 1. Mode 1 may be used to measure the distance between the initiator and the reflector to ensure that both ranges are ranging within close range.

Mode 1 may employ the ToF ranging approach to estimate the distance between the two ranging parties. Since mode 1 is a time-based measurement scheme, it is necessary to determine whether the time of both ranging sides is synchronized before ranging. As one implementation, the time difference between the two ranging sides is generally determined by transmitting and receiving a synchronization packet.

However, the ranging method adopted in mode 1 is not high in accuracy, and the ranging error is about 3 meters to 15 meters. To improve the ranging accuracy of mode 1, the sync packet used in mode 1 may be increased in the tail of the sync packet of table 1 by Sounding sequence or Random bit sequence. Table 2 shows the frame structure of the sync packet used in mode 1.

Table 2 frame structure of sync packet used in mode 1

Referring to Table 2, preamble, CS Access Address, tracker can be used in the same manner as Table 1. Sounding sequence may be a ranging sequence, typically 32 bits or 96 bits. Random bit sequence may be a random byte sequence, typically 32 or 64 bits, or 96 or 128 bits.

In addition, ranging pattern 3 is also specified in the CS specification. Mode 3 is a combination of mode 1 and mode 2, i.e. ranging both time-of-flight based and phase based.

Before the ranging process is started, the first device 110 and the second device 120 may negotiate control information in the ranging process through control signaling. The control information may be a relevant parameter in the ranging process. For example, the relevant parameters may be ranging start time, duration of tone signal transmission, switching time interval, number of tone signal frequencies employed in ranging, frequency of corresponding tone signal, etc.

Fig. 2 is a timing diagram of phase ranging. The timing chart 200 includes steps S202 to S224.

In step S202, the host a transmits a CS ranging enable command to the link layer of the host a.

In step S204, the link layer of host a sends a command status reply to host a.

In step S206, host a transmits ranging request signaling to host B. Wherein the ranging request signaling may be used to negotiate ranging control information.

In step S208, after receiving the ranging request signaling, the host B sends a ranging reply signaling to the host a.

In step S210, the host a receives the ranging response signaling and sends a ranging start signaling to the second device.

In step S212, the link layer of host a reports CS ranging enable completion to host a.

In step S214, the link layer of host B reports CS ranging enable completion to host B.

In step S216, the link layer of host a reports the CS ranging sub-event to host a. For example, the report may include phase information of a tone signal sent by host a to host B.

In step S218, the link layer of host B reports the CS ranging sub-event to host B. For example, the report may include phase information of host B that received the tone signal sent by host a.

In step S220, the link layer of host a reports the CS ranging sub-event to host a. For example, the report may include phase information of the single tone signal sent by host B received by host a.

In step S222, the link layer of host B reports the CS ranging sub-event to host B. For example, the report may include phase information of a tone signal sent by host B to host a.

In step S224, the host a exchanges ranging results with the host B through the application layer.

The phase ranging process in fig. 2 includes one ranging sub-event (CS sub-event). The ranging sub-events may be divided according to the frequency of the tone signal. For example, a ranging sub-event includes a ranging procedure that employs a frequency tone signal. That is, the phase ranging process of fig. 2 uses a single tone signal of one frequency for measurement. In some embodiments, the ranging procedure may also include a plurality of CS sub-events. In other words, the ranging process can use a plurality of groups of single-tone signals with different frequencies to perform multiple measurements, so as to improve the measurement accuracy.

Multiple steps may be included in one CS sub. Mode 0 to mode 3 are specified in the CS specification mentioned in the foregoing. In some implementations, the plurality of steps may be a plurality of modes in the CS specification. For example, the first step in CS sub is mode 0 and the second step is mode 2. In other embodiments, mode 1 is also added to CS sub for mode 2 security. For example, three steps may be included in CS sub, where the first step is mode 0, the second step is mode 1, and the third step is mode 2.

Fig. 3 is an exemplary diagram of a ranging process. Taking phase ranging based on bluetooth low energy as an example, a phase ranging process is briefly described with reference to fig. 3.

The vertical lines in fig. 3 represent connection events, and the spacing between the two vertical lines represents the connection interval. A connection event refers to a period of time during which the initiator and the recipient may interact with control signaling. A connection event may also be referred to as a connection protocol packet transceiving point. After the initiator and the receiver are successfully connected, the connection event may occur periodically according to a certain time. The certain time may be a connection interval, i.e. a time interval between two connection events. The connection interval may be determined by negotiation between the initiator and the receiver, or may be determined by the initiator and then the receiver is notified. As an implementation, the value of the connection interval may be any value within 7.5ms to 4s, but must be an integer multiple of 1.25 ms.

The scenario in fig. 3 initiates a ranging request for a ranging initiator, where 4 ranging passes are required to be performed consecutively, each ranging pass being distributed over a connection interval of 4 BLE.

Referring to fig. 3, control information of the ranging procedure can only be interacted in BLE connection event, and cannot be interacted within connection interval. That is, if the ranging parameters are to be adjusted during the connection interval, the corresponding control information interaction can be performed during the next connection event only when the next connection event arrives. If more information is interacted with, multiple connection events may be required to complete the interaction of control information.

Because the receiving and transmitting of the control message depend on the connection interval of BLE, the interaction mode of the control information is inflexible, and the user experience is not facilitated.

In order to solve the problems, the control information is loaded in the ranging control packet, so that the ranging equipment can conduct control information interaction at any time according to ranging requirements, and the flexibility of control information interaction in the phase ranging process is improved.

Fig. 4 is a flow chart of a ranging method according to an embodiment of the present application. The first device and the second device perform first phase ranging through Bluetooth communication. The flowchart 400 includes step S410.

In step S410, the first device transmits a first ranging control packet to the second device, where the first ranging control packet includes control information for the first phase ranging.

The first device may be a bluetooth communication enabled device. For example, the first device may be a blood pressure monitor, an industrial monitoring sensor, a positioning tag, an electronic tablet, a sports bracelet, an intelligent charging post, a contactless door lock, a light, an elevator, an automobile, an intelligent car key, a mobile phone, a bluetooth headset, a network device, etc.

The second device may be a bluetooth communication enabled device. The second device may be the same as the first device or may be different from the first device. For example, the first device is a mobile phone and the second device is a mobile phone. For another example, the first device is a mobile phone and the second device is a sports bracelet.

The first device may perform a first phase ranging with the second device through bluetooth communication. The initiator of the first phase ranging may be the first device or the second device. The receiver of the first phase ranging may be the first device or the second device. For example, the first device is the initiator of the first phase ranging and the second device is the receiver of the first phase ranging. As another example, the first device is the receiving party of the first phase ranging and the second device is the initiating party of the first phase ranging.

The first device and the second device may be used to measure the distance between the first device and the second device, or may be used to perform other services through bluetooth communication. For example, the other service may be a call service, or may be a related service of the smart home device. As an implementation manner, the mobile phone and the bluetooth headset can be used for measuring the distance between the mobile phone and the bluetooth headset through bluetooth communication so as to position the bluetooth headset and also used for realizing the call service through the bluetooth headset. As another implementation manner, the mobile phone and the remote controller can be used for measuring the distance between the mobile phone and the remote controller through bluetooth communication so as to position the remote controller and also used for controlling the remote controller to turn on the television through the mobile phone.

The first device transmits a first ranging control packet to the second device. The first device and the second device may interact with the first ranging control packet at any time. For example, in BLE-based phase ranging, the first ranging control packet may be control signaling, interacting in a BLE connection event. As another example, the first ranging control packet may also be an extension packet of the data packet interacted in phase ranging, and interaction is performed at the BLE connection interval. As an example, the first ranging control packet may be an extension packet of a data packet interacted during transmission and reception of a tone signal at the time of phase ranging. The data packet interacted in the single-tone signal receiving and transmitting process can be the synchronous data packet used for frequency offset estimation in the mode 0, and can also be the synchronous data packet used for time synchronization in the mode 1. As an implementation, an extension bit may be added to the synchronization data packet to form a first ranging control packet.

Depending on the scenario of use of the first device and/or the second device, it may be often necessary to terminate the first phase ranging or update parameters of the first phase ranging during the phase ranging.

For example, in the phase ranging process, a user incoming call is received or a call needs to be placed. Because the priority level of Bluetooth communication is high, the occupation of service air interface resources is high (20% -30% of air interface resources are generally needed). When the air interface resource can not meet the resource requirements of the call and the first phase ranging, the first phase ranging is required to be terminated first, and the telephone service is started. As an example, in the phase ranging procedure, where the first phase ranging needs to be terminated, corresponding control information may be transmitted in the next connection event. As an implementation, the first phase ranging may be terminated by sending a signaling message ll_cs_terminal_ind in the next BLE connection event.

As another example, some critical applications wish to be able to perform phase ranging also in a call. At this time, the ranging process parameters need to be updated to reduce the occupation of resources, so as to realize simultaneous communication and ranging. As one implementation, the first phase ranging is typically terminated, parameters of the second phase ranging are negotiated, and then the second phase ranging is initiated.

Accordingly, the control information may include a plurality of kinds according to a usage scenario. For example, the control information may include first information. The first information is used to indicate termination of the first phase ranging. As another example, the control information may include second information. The second information is used to indicate updating of ranging parameters of the first phase ranging. That is, the second information is used to indicate that the first phase ranging is updated to the second phase ranging. In some embodiments, the control information may also include both the first information and the second information.

The second device receives the first ranging control packet, and may perform a corresponding action according to control information included in the first ranging control packet. For example, the control information includes first information for indicating termination of the first phase ranging. The second device terminates the first phase ranging in response to the first information. As another example, the control information includes second information indicating parameters for updating the first phase ranging. The second device initiates a second phase ranging in response to the second information. The second information includes one or more of the following: the method comprises the steps of updating indication information of parameters of phase ranging, parameters of second phase ranging, indication information of parameters of second phase ranging, effective time of the parameters of second phase ranging and offset of start time of the second phase ranging relative to the effective time, wherein the second phase ranging is phase ranging after the parameters are updated by the first phase ranging.

As one implementation, the second information may include parameters of the second phase ranging. When the parameter of the second phase ranging is different from the current ranging parameter, the second information may indicate updating the parameter of the first phase ranging. Meanwhile, the second information indicates that the parameter of the first phase ranging is updated to the parameter of the second phase ranging.

As another implementation, the second information may include indication information to update the first phase ranging parameter and parameters of the second phase ranging. And when the indication information for updating the first phase ranging parameters is valid, updating the parameters of the first phase ranging to the parameters of the second phase ranging. When the indication information for updating the first phase ranging parameter is invalid, the parameter of the first phase ranging is maintained.

As yet another implementation, the second information may include indication information of updating the first phase ranging parameter and indication information of the second phase ranging parameter. As one example, the indication information of the second phase ranging parameter may be a configuration identification of the second phase ranging parameter. And acquiring the parameters of the second phase ranging by searching the mapping relation between the parameters of the second phase ranging and the configuration identifier.

In some implementations, the second phase ranging parameter may also include an effective time of the second phase ranging parameter, or an offset of an effective time of the second phase ranging parameter and a start time of the second phase ranging from the effective time.

In some embodiments, the first device may further transmit a second ranging control packet to the second device, the second ranging control packet including control information for starting the first phase ranging procedure. The second ranging control packet may be the same as the first ranging control packet or may be different from the first ranging control packet.

To ensure that the control information is not erroneous during transmission, the first ranging control packet and/or the second ranging control packet may further include check information. The check information may be used to check control information in the first ranging control packet and/or the second ranging control packet. The verification means may include a plurality of types. For example, the check may be performed by using a cyclic redundancy check (cyclic redundancy check, CRC) scheme.

According to the method and the device for carrying the control information in the ranging control packet, the ranging equipment can conduct control information interaction at any time according to requirements, and flexibility of control information interaction in the phase ranging process is improved.

In BLE-based phase ranging, the interaction of control information may depend on BLE connection events. In some implementations, the interaction of control information to terminate the first phase ranging generally requires a connection interval of 1 to 2 BLEs. Taking a typical BLE connection interval of 100 ms as an example, the delay to terminate the ranging procedure may be 100 ms to 200 ms. In other implementations, more control information interaction is required to turn on the second phase ranging, and the time to update the first phase ranging to the second phase ranging may be typically more than 1 second. Therefore, the inflexibility of the control information interaction mode in the phase ranging process can further cause delay of the control information interaction, and user experience is affected.

According to the method and the device for controlling the distance measurement, the control information can be borne in the distance measurement control packet in the connection interval of the BLE, so that the distance measurement equipment can conduct interaction of the control information in the connection interval, and the time delay of the control information interaction is reduced.

After the first device sends the first ranging control packet to the second device, it cannot be confirmed whether the second device receives the first ranging control packet. That is, the first device cannot confirm whether the second device receives the control information, and the validity of the control information transmission cannot be guaranteed. Further, the first device cannot confirm whether to continue to perform the first phase ranging or to turn on the second phase ranging.

In some implementations, the second device may send a reply control packet to the first device indicating that the second device acknowledges receipt of the first information. The reply control packet may be a reply control packet sent by the second device to the first device within a BLE connection event. For example, the reply control packet may be the reply signaling in fig. 2. The reply control packet may be a data packet sent to the first device within a BLE connection interval. For example, the reply control packet may be a synchronization packet in the phase ranging process. As an example, the reply control packet may be a new data packet. The new data packet includes the reply message. As another example, the content in the reply control packet may be obtained by modifying the content of the first ranging control packet. As one implementation, part of the information in the first ranging control packet is used to indicate reply information. Updating or modifying the content of the indication reply message in the first ranging control packet may result in a reply control packet.

In response to receiving the reply control packet, the first device may terminate the first phase ranging. In response to receiving the first ranging control packet, the second device may terminate the first phase ranging.

In other implementations, the second device may send a reply control packet to the first device indicating that the second device acknowledges receipt of the second information. For example, the reply control packet for indicating that the second device acknowledges receipt of the first information and the reply control packet for indicating that the second device acknowledges receipt of the second information may be the same data packet or may be two independent data packets.

In response to receiving the reply packet, the first device initiates a second phase ranging according to the second information. For example, in response to receiving the reply control packet, the first device may turn on the second phase ranging according to the time of validity of the second phase ranging parameter in the second information. For another example, in response to receiving the reply control packet, the first device may turn on the second phase ranging according to an effective time of the second phase ranging parameter in the second information and an offset of an on time of the second phase ranging from the effective time.

The second device replying to the control packet indicates that the first information and/or the second information are/is confirmed to be received, so that the effectiveness of control information transmission in the first ranging control packet can be ensured. Meanwhile, the first device may execute the instruction corresponding to the first information and/or the second information.

As one implementation, the first ranging control packet further includes SN information and NESN information. The recovery and flow control mechanism of the BLE protocol packet can be multiplexed through the SN information and the NESN information, so that a recovery control packet is obtained.

The following describes the ranging method provided in the embodiment of the present application in detail by taking the first ranging control packet as an example of a synchronization packet in the ranging process.

There are various methods for carrying control information of phase ranging in the first ranging control packet. As an implementation manner, the structure of the CS synchronization packet may be extended, and the extension field is used to carry control information of the ranging process. The CS synchronization packet comprises a packet head and a packet tail. For example, the structure of the CS header may be extended to carry control information. As another example, the structure of the CS trailer may be extended to carry control information.

Table 3 is an extended format of a CS sync packet. Referring to table 3, the CS sync packet includes a CS sync packet header, a CS sync packet header extension, and a CS sync packet trailer.

Table 3 an extended format of CS sync packet

Referring to table 3, the CS sync packet header and the CS sync packet trailer may remain the same as the existing bluetooth ranging specification. The preamble may be 8 bits or 16 bits, the CS access address may be 32 bits, the tail code may be 4 bits, and the tail of the CS synchronization packet may be a probe sequence or a random sequence. Typically, the detection sequence is 32 bits or 96 bits, and the random sequence may be 32 bits or 64 bits, or 96 bits or 128 bits.

The CS sync packet extension structure may be a CS sync packet header extension, and the extension field may be used to carry control information for phase ranging.

The control information carried by the CS sync packet header extension includes first information and second information. For example, the first information may be represented by a termination field. As one example, the termination field may be a one-bit extension field. When the termination field is 0, it indicates that the termination information is invalid, that is, the first information indicates that the first phase ranging is continued. When the termination field is 1, it indicates that termination information is valid, that is, the first information indicates termination of the first phase ranging.

The second information may include only parameters of the second phase ranging, or may include indication information for updating parameters of the first phase ranging and parameters of the second phase ranging. For example, the second information may be represented by a parameter update field and a new ranging parameter field in the extension field. The parameter update field expresses indication information for updating the ranging parameters, and the new ranging parameter field expresses parameters of second phase ranging. As one implementation, the parameter update field may be a one-bit extension field. When the parameter update field is 0, it indicates that the parameter update information is invalid, that is, the second information indicates that the parameter of the first phase ranging is not updated. In other words, the first phase ranging is continuously performed. When the parameter update field is 1, it indicates that the parameter update information is valid, that is, the second information indicates updating the parameter of the first phase ranging.

The new ranging parameters field may include a variety of parameter configuration information. For example, the new ranging parameters may include a parameter validation time point of the second phase ranging, a parameter configuration identification of the second phase ranging. As another example, the parameters of the second phase ranging may include a ranging parameter validation time point, a ranging parameter configuration identification, and a ranging procedure relative offset. The ranging parameter effective time point is a second phase ranging parameter effective time point, the ranging parameter configuration identifier is indication information of a second phase ranging parameter, and the ranging process relative offset is an offset of a starting time of the second phase ranging relative to an effective time.

During BLE connection, the number of connection events is typically used for timing. As one implementation, the point in time of the validation of the second phase ranging parameter may be represented by a count value of the connection event. For example, the ranging parameter validation time point may represent the number of connection events with a 4-bit extension field.

As another implementation, the new ranging parameters may also include a ranging process relative offset. The effective time of the new ranging parameters can be more flexible by using the effective time point of the ranging parameters and the relative offset of the ranging process, and the method is not limited by the starting time of a connection event. The ranging procedure relative offset may be represented by an 8-bit extension field. The unit of time for the relative offset may be microseconds.

In some cases, the number of parameters for the second phase ranging may be large. For example, where the second phase ranging includes multiple sub-events, the ranging parameters include multiple sets. And the synchronization packet extension field is limited, so that the control information of all ranging parameters is inconvenient to carry.

Thus, in some embodiments, the parameters of the second phase ranging may include a ranging parameter configuration identification, i.e. an indication of the parameters of the second phase ranging. And obtaining the corresponding ranging parameters in the control information through the mapping relation between the ranging parameter configuration identification and the parameters of the second phase ranging. For example, according to the parameter configuration identifier in the received synchronization packet, the mapping relationship is queried, and the parameter of the second phase ranging indicated in the control information can be obtained. As an example, the mapping relation of the plurality of sets of ranging parameters and the corresponding ranging parameter configuration identifications may be stored in advance in the device performing phase ranging. The device storing the mapping relationship may be a first device and a second device. As another example, the mapping relationship of the plurality of sets of ranging parameters and their corresponding ranging parameter configuration identifications may be stored in advance in one device performing phase ranging. Before using the parameter configuration identifier, the device may send the mapping relationship between the multiple sets of ranging parameters and the corresponding ranging parameter configuration identifier to another device performing phase ranging. One device storing the mapping relationship may be the first device or the second device.

The number of configuration identifications of the ranging parameters may be determined according to the number of commonly used ranging parameters. For example, the configuration identification of the ranging parameters may be represented by a 4-bit extension field in the synchronization packet.

The information carried by the CS sync packet header extension may further be information that the second device confirms whether the first ranging control packet is successfully transmitted. As an implementation, the information carried by the CS sync packet header extension may include NESN information and SN information. The NESN information and the SN information may have the same meaning as NESN information and SN information in a protocol packet in a BLE connection state, and are used for multiplexing acknowledgement and flow control machines of the protocol packet in the BLE connection state.

The answer and flow control mechanisms include a variety of ways. As one example, the first device (master) only updates SN information and the second device (slave) only updates NESN information. The first device transmits a first ranging control packet to the second device, and the second device updates NESN information and transmits a reply control packet to the first device. After receiving the reply control packet, the first device can confirm that the second device has received the first ranging control packet according to the updated NESN information.

To ensure reliable reception of the first ranging control packet, the first ranging control packet is typically transmitted multiple times. If the NESN information and the SN information in the first ranging control packet received by the second device are the same, the received first ranging control packet can be considered as a data packet newly sent by the first device. The second device may execute the corresponding instruction according to the received first ranging control packet. If the NESN information and the SN information in the first ranging control packet received by the second device are different, the received first ranging control packet can be considered as a data packet retransmitted by the first device. The second device may determine whether to execute the instruction in the retransmission packet based on the contents of the last received packet and the retransmission packet currently received.

In order to ensure the correctness of the CS synchronization packet in the transmission process, the CS synchronization packet header extension may further include a packet header check code. For example, the header check code may employ CRC check information. The polynomial used for the CRC check may be a polynomial in bluetooth communications or other commonly used polynomials. As one example, the polynomial of the CRC check may multiplex the polynomial of the BT ACL packet in bluetooth communication.

In addition, the CS sync packet may also include reserved bits. For example, reserved bits may be used to carry other types of control information. As another example, reserved bits may be used to carry other parameters in the first information and/or the second information. As one example, the reserved bits may be a 4-bit extension field.

The method of using the synchronization packet to carry the control information is described above, and the flow of terminating the first phase ranging and updating the parameters of the first phase ranging in the ranging process is described below by taking the first ranging control packet as an example of the synchronization packet with reference to fig. 5 to 6.

Fig. 5 is a flow chart illustrating a termination of the ranging process. Referring to fig. 5, the current ranging procedure includes n ranging sub-events distributed in BLE connection event x, and the next ranging procedure starts from BLE connection event x+1.

In the ranging process, the current ranging process is terminated, and the termination field in the first ranging control packet may be set to 1 by the first device or the second device. A device that sets the termination field to 1 in the first ranging control packet may be referred to as a termination initiator, and another device may be referred to as a termination receiver.

Referring to fig. 5, in the ranging sub-event 1, the initiator sets a termination field in a first ranging control packet to 1 and sets corresponding SN information and NESN information. In the first step (mode 0) of the ranging sub-event 2, the receiving side does not receive the first data packet, and continues to perform the current ranging process.

In the second step (mode 1) of the ranging sub-event 2, the receiving side receives the first ranging control packet and terminates the current ranging process. Meanwhile, the receiving side updates the SN information and NESN information in the reply control packet and sends the reply control packet to the termination initiator. The updated SN information and the NESN information are used to indicate the receiving side to confirm receiving the control information for terminating the ranging process.

Meanwhile, in the second step (mode 1) of the ranging sub-event 2, the initiator receives the reply control packet, terminating the current ranging procedure.

The embodiment of the application can reduce the termination time of the ranging to 1 to 2 CS sub-event times. Whereas the duration of a typical CS sub event is typically only 3 to 5 milliseconds, that is to say the expiration time can be controlled to 3 to 10 milliseconds. The delay for terminating the current ranging process in the ranging process is far smaller than 100 to 200 milliseconds required by the interactive control signaling in the BLE connection event in the related technology, and the delay for terminating the current ranging process in the ranging process is greatly reduced.

Fig. 6 is a flowchart of updating parameters of the first phase ranging. Referring to fig. 6, the first phase ranging includes m ranging sub-events distributed in BLE connection event y.

In the ranging process, the ranging parameters of the first phase ranging are updated, and the parameter update field in the first ranging control packet is set to be 1 by the first device or the second device, and a new ranging parameter field is filled in. A device that sets the parameter update field to 1 in the first ranging control packet may be referred to as a parameter update initiator, and another device may be referred to as a parameter update receiver.

Referring to fig. 6, for example, in ranging sub-event 1, the initiator sets a parameter update field in a first ranging control packet to 1 and sets corresponding SN information and NESN information. In the first step (mode 0) of the ranging sub-event 2, the receiving side does not receive the first ranging control packet, and continues to perform the first phase ranging.

In the second step (mode 1) of the ranging sub-event 2, when the receiving side receives the first ranging control packet, a preparation flow of ranging parameter update is performed. Meanwhile, the receiver updates the SN information and NESN information in the reply control packet and sends the reply control packet to the parameter update initiator. The update SN information and NESN information are used for indicating the receiving party to confirm the control information of the parameter update.

Meanwhile, in the second step (mode 1) of the ranging sub-event 2, the initiator receives the reply control packet and performs a preparation flow for ranging parameter update.

According to the content of the new ranging parameter field in the control information, the effective time point of the second phase ranging parameter can be obtained to be BLE connection event y+6, CS ranging start time offset a and the number of ranging sub-events of the second phase ranging is 1. Starting at the time when BLE connection event y+6 is offset by a microseconds, the initiator and the receiver start a second phase ranging, and the second phase ranging includes CS sub 1. Until this time, both the initiator and the receiver maintain the first phase ranging.

In the related art, the method for updating the ranging process parameters is to terminate the current ranging process through the control message of the BLE in the connection event, and then initiate a new ranging request through the control signaling of the BLE. This process typically takes more than 1 second. According to the embodiment of the application, the parameter updating of the ranging can be controlled within 2 to 3 BLE connection intervals, which are generally 200 to 300 milliseconds, so that the time delay from the control requirement to the response is greatly reduced.

In addition, in some multi-service scenarios, it is sometimes necessary to end the current ranging process quickly, so as to ensure the operation of other services. For example, a certain application is using bluetooth ranging service, and a user suddenly needs to conduct bluetooth telephony service. At this time, the application requires the bluetooth ranging process to be completed as soon as possible, and then performs the call service. The ranging operation can be ended as soon as possible by modifying the ranging parameters of the current ranging process. As one example, the number of ranging sub-events of the current ranging process may be reduced. As another example, the ranging parameters may be reconfigured with the corresponding ranging procedure containing one ranging sub-event.

Aiming at the problems, the method in the related art is adopted, the time required for reconfiguration of the ranging parameters is more than 1 second, and the time required for executing the ranging process corresponding to the new ranging parameters is also required, so that the requirements of users cannot be met. According to the method and the device for updating the parameters of the ranging process, the parameters of the ranging process can be updated rapidly through carrying corresponding control information in the first data packet sent in the connection interval. Meanwhile, the ranging process corresponding to the ranging parameter is completed rapidly in response to the ranging parameter in the control information. Typically, the above process can be completed in 200 to 300 milliseconds, significantly improving the user experience.

It should be noted that, the duration of a typical CS sub event is generally only 3 to 5 ms, and the first step in each CS sub event is in mode 0, and the second step is mostly in mode 1. And the mode 0 and the mode 1 each comprise interaction of the synchronous packet, that is, the synchronous packet carries control information, and the interaction period of the control information can be 1.5 milliseconds to 5 milliseconds. In other words, the control information carried in the control information for terminating the ranging process and/or the control information for updating the current ranging parameters can be interacted once every 1.5 milliseconds, so that the time delay of the interaction of the control information is greatly reduced.

Method embodiments of the present application are described in detail above in conjunction with fig. 1-6, and apparatus embodiments of the present application are described in detail below in conjunction with fig. 7-9. It is to be understood that the description of the device embodiments corresponds to the description of the method embodiments, and that parts not described in detail can therefore be seen in the preceding method embodiments.

Fig. 7 is a schematic structural diagram of a ranging apparatus according to an embodiment of the present application. As an implementation manner, the ranging device 700 may be a first chip disposed at a mobile phone end, and may perform phase ranging with a second chip disposed at a bluetooth device end through bluetooth communication. The ranging apparatus 700 includes a transmitting unit 710.

And a transmitting unit 710 configured to transmit a first ranging control packet to the second device during a first phase ranging of the ranging device 700 and the second device, the first ranging control packet including control information for the first phase ranging.

Optionally, the ranging apparatus 700 further includes: and the receiving unit is configured to receive a reply control packet sent by the second device, wherein the reply control packet is used for indicating the second device to confirm that the first ranging control packet is received.

Optionally, the ranging apparatus 700 further comprises a control unit configured to terminate the first phase ranging and/or to turn on the second phase ranging in response to receiving the reply control packet.

Optionally, the first ranging control packet includes first information for indicating termination of the first phase ranging and/or second information for indicating updating of parameters of the first phase ranging.

Optionally, the second information includes one or more of the following information: the method comprises the steps of updating indication information of a parameter of a first phase ranging, parameter of a second phase ranging, indication information of the parameter of the second phase ranging, effective time of the parameter of the second phase ranging and offset of opening time of the second phase ranging relative to the effective time, wherein the second phase ranging is phase ranging after the parameter is updated by the first phase ranging.

Alternatively, the foregoing transmitting unit 710 may also be referred to as a first transmitting unit, and the ranging apparatus 700 further includes: and a second transmitting unit configured to transmit a second ranging control packet to the second device, the second ranging control packet including control information for starting the first phase ranging procedure.

Optionally, the first ranging control packet further includes SN information and NESN information.

Fig. 8 is a schematic structural diagram of a ranging apparatus according to another embodiment of the present application. As an implementation manner, the ranging device 800 may be a second chip disposed at the bluetooth device end, and may perform phase ranging with a first chip disposed at the mobile phone end through bluetooth communication. The ranging apparatus 800 shown in fig. 8 includes a receiving unit 810.

And a receiving unit 810 configured to receive a first ranging control packet sent by the first device during a first phase ranging between the first device and the ranging device, where the first ranging control packet includes control information for the first phase ranging.

Optionally, the ranging apparatus 800 further includes: and a transmitting unit configured to transmit a reply control packet to the first device, the reply control packet being used to instruct the second device to acknowledge receipt of the first ranging control packet.

Optionally, the ranging apparatus 800 further includes: a control unit configured to terminate the first phase ranging and/or to turn on the second phase ranging in response to receiving the first ranging control packet.

Optionally, the first ranging control packet includes first information for indicating termination of the first phase ranging and/or second information for indicating updating of parameters of the first phase ranging.

Optionally, the second information includes one or more of the following information: the method comprises the steps of updating indication information of a parameter of a first phase ranging, parameter of a second phase ranging, indication information of the parameter of the second phase ranging, effective time of the parameter of the second phase ranging and offset of opening time of the second phase ranging relative to the effective time, wherein the second phase ranging is phase ranging after the parameter is updated by the first phase ranging.

Alternatively, the receiving unit 810 described above may also be referred to as a first receiving unit, and the ranging apparatus 800 further includes: and a second receiving unit configured to receive a second ranging control packet transmitted by the first device, wherein the second ranging control packet includes control information for starting the first phase ranging process.

Optionally, the first ranging control packet further includes SN information and NESN information.

Fig. 9 is a schematic structural diagram of a ranging apparatus according to another embodiment of the present application. The dashed lines in fig. 9 indicate that the unit or module is optional. Ranging device 900 may be used to implement the methods described in the method embodiments described above. Ranging device 900 may be various devices or chips that support bluetooth communications. For example, ranging device 900 may be the first device described previously. As an implementation manner, the ranging device 900 may be a first chip disposed at the mobile phone end, and may be used to implement the functions of the first device in the foregoing method embodiment. The ranging device 900 may also be a second chip disposed on the bluetooth device side, and may be used to implement the functions of the second device in the above method embodiment.

Ranging device 900 may include one or more processors 910. The processor 910 may support the ranging device 900 to implement the methods described in the method embodiments above. The processor 910 may be a general purpose processor or a special purpose processor. For example, the processor may be a central processing unit (central processing unit, CPU). Alternatively, the processor may be another general purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), an off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Ranging device 900 may also include one or more memories 920. The memory 920 has stored thereon a program that can be executed by the processor 910 to cause the processor 910 to perform the method described in the method embodiments above. The memory 920 may be separate from the processor 910 or may be integrated into the processor 910.

Ranging device 900 may also include a transceiver 930. The processor 910 may communicate with other devices or chips through the transceiver 930. For example, the processor 910 may transmit and receive data to and from other devices or chips through the transceiver 930.

The embodiment of the application also provides a computer readable storage medium for storing a program. The computer-readable storage medium may be applied to the ranging apparatus provided in the embodiments of the present application, and the program causes a computer to execute the method performed by the ranging apparatus in the various embodiments of the present application.

Embodiments of the present application also provide a computer program product. The computer program product includes a program. The computer program product may be applied to a ranging apparatus provided in embodiments of the present application, and the program may cause a computer to perform the methods performed by the ranging apparatus in various embodiments of the present application.

The embodiment of the application also provides a computer program. The computer program is applicable to the ranging apparatus provided in the embodiments of the present application, and causes the computer to perform the methods performed by the ranging apparatus in the various embodiments of the present application.

The terms "system" and "network" may be used interchangeably herein. In addition, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. The terms "first," "second," "third," and "fourth" and the like in the description and in the claims of this application and in the drawings, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiment of the present application, the "indication" may be a direct indication, an indirect indication, or an indication having an association relationship. For example, a indicates B, which may mean that a indicates B directly, e.g., B may be obtained by a; it may also indicate that a indicates B indirectly, e.g. a indicates C, B may be obtained by C; it may also be indicated that there is an association between a and B.

In the embodiments of the present application, the term "corresponding" may indicate that there is a direct correspondence or an indirect correspondence between the two, or may indicate that there is an association between the two, or may indicate a relationship between the two and the indicated, configured, or the like.

In the embodiment of the present application, the "pre-defining" or "pre-configuring" may be implemented by pre-storing a corresponding code, a table or other manners that may be used to indicate relevant information in a device (including, for example, a terminal device and a network device), and the specific implementation manner is not limited in this application. Such as predefined may refer to what is defined in the protocol.

In the embodiment of the present application, the "protocol" may refer to a standard protocol in the communication field, for example, may include an LTE protocol, an NR protocol, and related protocols applied in a future communication system, which is not limited in this application.

In the embodiments of the present application, determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.

In the embodiment of the present application, the term "and/or" is merely an association relationship describing the association object, which indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In various embodiments of the present application, the sequence number of each process does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be read by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disk (digital video disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (29)

1. A ranging method, the method comprising:

in the process that a first device and a second device perform first phase ranging through Bluetooth communication, the first device sends a first ranging control packet to the second device, and the first ranging control packet comprises control information for the first phase ranging.

2. The method of claim 1, wherein the control information comprises first information indicating termination of the first phase ranging.

3. The method according to claim 2, wherein the method further comprises:

the first device receives a reply control packet sent by the second device, wherein the reply control packet is used for indicating the second device to confirm that the first information is received;

In response to receiving the reply control packet, the first device terminates the first phase ranging.

4. The method of claim 1, wherein the control information includes second information indicating a parameter for updating the first phase ranging.

5. The method of claim 4, wherein the second information comprises one or more of the following: the method comprises the steps of updating indication information of a parameter of the first phase ranging, effective time of a parameter of a second phase ranging, the parameter of the second phase ranging, the indication information of the parameter of the second phase ranging and offset of opening time of the second phase ranging relative to the effective time; wherein the second phase ranging is the updated first phase ranging.

6. The method according to claim 4 or 5, characterized in that the method further comprises:

the first device receives a reply control packet sent by the second device, wherein the reply control packet is used for indicating the second device to confirm that the second information is received;

in response to receiving the reply control packet, the first device starts a second phase ranging, the second phase ranging being the updated first phase ranging.

7. The method according to claim 1, wherein the method further comprises:

the first device transmits a second ranging control packet to the second device, wherein the second ranging control packet comprises control information for starting the first phase ranging process.

8. The method of claim 1, wherein the first ranging control packet further comprises SN information and NESN information.

9. A ranging method, the method comprising:

in the process that the second device and the first device perform first phase ranging through Bluetooth communication, the second device receives a first ranging control packet sent by the first device, wherein the first ranging control packet comprises control information for first phase ranging.

10. The method of claim 9, wherein the control information comprises first information indicating termination of the first phase ranging.

11. The method according to claim 10, wherein the method further comprises:

in response to the first information, the second device terminates the first phase ranging.

12. The method of claim 11, wherein the method further comprises:

The second device sends a reply control packet to the first device, wherein the reply control packet is used for indicating the second device to confirm that the first information is received.

13. The method of claim 9, wherein the control information includes second information indicating parameters for updating the first phase ranging.

14. The method of claim 13, wherein the second information comprises one or more of the following: the method comprises the steps of updating indication information of a parameter of the first phase ranging, effective time of a parameter of a second phase ranging, the parameter of the second phase ranging, the indication information of the parameter of the second phase ranging and offset of opening time of the second phase ranging relative to the effective time; wherein the second phase ranging is the updated first phase ranging.

15. The method according to claim 13 or 14, characterized in that the method further comprises:

in response to the second information, the second device starts a second phase ranging, which is the updated first phase ranging.

16. The method of claim 15, wherein the method further comprises:

And the second device sends a reply control packet to the first device, wherein the reply control packet is used for indicating the second device to confirm that the second information is received.

17. The method according to claim 9, wherein the method further comprises:

the second device receives a second ranging control packet sent by the first device, wherein the second ranging control packet comprises control information for starting the first phase ranging process.

18. The method of claim 9, wherein the first ranging control packet further comprises SN information and NESN information.

19. A ranging apparatus, comprising:

and a transmitting unit configured to transmit a first ranging control packet to the second device in a first phase ranging process of the ranging device and the second device, wherein the first ranging control packet includes control information for the first phase ranging.

20. The ranging apparatus as defined in claim 19 wherein the ranging apparatus further comprises:

and the receiving unit is configured to receive a reply control packet sent by the second device, wherein the reply control packet is used for indicating the second device to confirm that the first ranging control packet is received.

21. The ranging apparatus as defined in claim 20 wherein the ranging apparatus further comprises:

a control unit configured to terminate the first phase ranging and/or to turn on the second phase ranging in response to receiving the reply control packet.

22. Ranging device according to any of claims 19-21, characterized in that the first ranging control packet comprises first information indicating termination of the first phase ranging and/or second information indicating updating of parameters of the first phase ranging.

23. A ranging apparatus, comprising:

and the receiving unit is configured to receive a first ranging control packet sent by the first equipment in the process of first phase ranging of the first equipment and the ranging equipment, wherein the first ranging control packet comprises control information for the first phase ranging.

24. The ranging apparatus as defined in claim 23 wherein the ranging apparatus further comprises:

and a transmitting unit configured to transmit a reply control packet to the first device, the reply control packet being used to instruct the ranging device to acknowledge receipt of the first ranging control packet.

25. The ranging apparatus as defined in claim 23 wherein the ranging apparatus further comprises:

a control unit configured to terminate the first phase ranging and/or to turn on a second phase ranging in response to receiving the first ranging control packet.

26. Ranging device according to any of claims 23-25, characterized in that the first ranging control packet comprises first information indicating termination of the first phase ranging and/or second information indicating updating of parameters of the first phase ranging.

27. A ranging apparatus comprising a processor for invoking a program from memory to perform the method of any of claims 1-8 or claims 9-18.

28. A chip comprising a processor configured to perform the method of any one of claims 1-8 or claims 9-18.

29. A computer-readable storage medium, having stored thereon a program that causes a computer to perform the method of any of claims 1-8 or claims 9-18.